DE19757063A1 - Safety speed control system for vehicle - Google Patents

Safety speed control system for vehicle

Info

Publication number
DE19757063A1
DE19757063A1 DE19757063A DE19757063A DE19757063A1 DE 19757063 A1 DE19757063 A1 DE 19757063A1 DE 19757063 A DE19757063 A DE 19757063A DE 19757063 A DE19757063 A DE 19757063A DE 19757063 A1 DE19757063 A1 DE 19757063A1
Authority
DE
Germany
Prior art keywords
lane
speed
vehicle
control system
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19757063A
Other languages
German (de)
Inventor
Willibald Dr Prestl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE19757063A priority Critical patent/DE19757063A1/en
Priority to EP98962427A priority patent/EP1037761B1/en
Priority to DE59803382T priority patent/DE59803382D1/en
Priority to PCT/EP1998/007985 priority patent/WO1999032318A1/en
Priority to JP2000525275A priority patent/JP3845548B2/en
Priority to US09/581,945 priority patent/US6304811B1/en
Publication of DE19757063A1 publication Critical patent/DE19757063A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/0008—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including means for detecting potential obstacles in vehicle path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B60W2555/80—Country specific, e.g. driver age limits or right hand drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The safety speed control system enables a vehicle to be driven on a road (1-3) with a cruise control and with a sensor system for the spacing from a leading vehicle. The control system reduces the set cruise speed if the spacing from the leading vehicle falls below a set safety level. The system is further improved by also monitoring the speed and spacing of vehicles in the adjacent lanes, and to detect any change in lane signals e.g. direction indicators, steering movements etc. When changing lanes the speed of the vehicle is adjusted to fit into the speed in the target lane and with a new safety spacing.

Description

Die Erfindung bezieht sich auf ein abstandsbezogenes Fahrgeschwindig­ keitsregelsystem nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a distance-related driving speed keitsregelsystem according to the preamble of claim 1.

Ein derartiges Fahrgeschwindigkeitsregelsystem ist beispielsweise aus der U 5,014,200 bekannt. Derartige bekannte adaptive Fahrgeschwindigkeits­ regelsysteme bestehen insbesondere aus zwei Komponenten: Erstens aus einem Fahrgeschwindigkeitsregler, der grundsätzlich eine vom Fahrer vor­ gegebene Geschwindigkeit konstant halten kann; zweitens aus einem Sen­ sorsystem zur Erfassung des Abstands zum jeweils vorausfahrenden Fahr­ zeug.Such a vehicle speed control system is, for example, from the U 5,014,200 known. Such known adaptive driving speed control systems consist in particular of two components: firstly a vehicle speed controller, which is basically one from the driver can keep given speed constant; secondly from a sen sensor system for recording the distance to the preceding vehicle stuff.

Bei abstandsbezogenen adaptiven Fahrgeschwindigkeitsregelsystemen wird grundsätzlich eine vorgegebene Geschwindigkeit konstant gehalten, bis ein vorgegebener Mindestabstand zum vorausfahrenden Fahrzeug erreicht bzw. unterschritten wird. Bei Erreichen oder Unterschreiten dieses vorgegebenen Mindestabstandes findet eine Geschwindigkeitsregelung derart statt, daß der vorgegebene Mindestabstand eingehalten wird.With distance-based adaptive cruise control systems basically a given speed kept constant until a specified minimum distance to the vehicle in front has been reached or is undercut. When reaching or falling below this predefined Minimum distance, a speed control takes place such that the specified minimum distance is observed.

Es ist Aufgabe der Erfindung, für ein Fahrgeschwindigkeitsregelsystem ein­ gangs genannter Art eine Überholhilfe bzw. eine Fahrspurwechselhilfe zu schaffen, die auf sichere Weise jeweils aktuellen Fahrsituationen angepaßt ist.It is an object of the invention for a vehicle speed control system a kind of overtaking aid or a lane change aid create that safely adapted to current driving situations is.

Diese Aufgabe wird durch die kennzeichnenden Merkmale des Patentan­ spruchs 1 gelöst.This object is achieved by the characterizing features of the patent spell 1 solved.

Die Erfindung geht davon aus, daß die Abstandssensorsysteme bei ab­ standsbezogenen adaptiven Fahrgeschwindigkeitsregelsystemen in der La­ ge sind, auch den Verkehr auf den Nachbarspuren zu erfassen. Damit läßt sich durch mittelfristige statistische Betrachtung des Nachbarverkehrs ein aktueller Mittelwert der dort gefahrenen Geschwindigkeiten ermitteln. Ein Überholvorgang bzw. ein Fahrspurwechsel oder ein Fahrspurwechselwunsch kann beispielsweise durch ein Blinksignal, durch ein Lenkraddrehbewe­ gungssignal, durch ein Querbeschleunigungssignal oder durch ein Gierra­ tensignal erfaßt werden. Aufbauend auf dem Wert der mittleren Geschwin­ digkeit der Fahrzeuge auf der Nachbarspur bzw. auf der Ziel-Fahrspur kann eine Adaption der Fahrzeug-Geschwindigkeit und/oder des Abstandes zum auf der momentanen Fahrspur vorausfahrenden Fahrzeug erfolgen. Ziel hierbei ist ein harmonischer Spurwechsel und ein vereinfachten Einscheren auf die beobachtete Nachbarspur.The invention assumes that the distance sensor systems at status-based adaptive vehicle speed control systems in the La are also to record the traffic in the neighboring lanes. So that leaves by means of statistical analysis of neighboring traffic in the medium term Determine the current average of the speeds traveled there. A Overtaking or changing lanes or changing lanes can, for example, by a flashing signal, by a steering wheel rotation tion signal, by a lateral acceleration signal or by a yaw tensignal be detected. Building on the value of the average speed vehicles in the adjacent lane or in the destination lane an adaptation of the vehicle speed and / or the distance to in the vehicle in front in the current lane. aim here is a harmonious lane change and simplified reeving on the observed neighboring lane.

Sind die Verkehrsverhältnisse bzgl. der Geschwindigkeit und der Häufigkeit der vorbeifahrenden Fahrzeuge auf der Nebenspur zu unregelmäßig, um einen geeigneten Geschwindigkeitsmittelwert bilden zu können, kann bei­ spielsweise auf einen vorgegebenen Festwert zur Geschwindigkeitserhö­ hung bzw. Geschwindigkeitsreduzierung zurückgegriffen werden. Are the traffic conditions in terms of speed and frequency of the passing vehicles on the adjacent lane are too irregular to To be able to form a suitable average speed can at for example to a predetermined fixed value for speed increase hung or speed reduction can be used.  

Vorteilhafte Weiterbildungen der Erfindung sind die Gegenstände der Un­ teransprüche.Advantageous developments of the invention are the subjects of the Un claims.

Die Erfindung bezieht sich grundsätzlich auf einen Fahrspurwechsel zwi­ schen Fahrbahnen mit gleicher Fahrtrichtung. Die Fahrtrichtung auf den Ne­ benspuren wird z. B. mittels des Abstandssensors und/oder mittels Informa­ tionen eines Navigationssystems erkannt. Wird ein Wechsel auf eine Fahr­ spur der Gegenrichtung erkannt, werden die erfindungsgemäß vorgeschla­ genen Maßnahmen unterdrückt.The invention basically relates to a lane change between lanes with the same direction of travel. The direction of travel on the Ne traces of z. B. by means of the distance sensor and / or by means of informa tion of a navigation system recognized. Will a change to a driving detected in the opposite direction, the proposed according to the invention measures suppressed.

Wird insbesondere in Verbindung mit der Berücksichtigung von Ländervari­ anten oder z. B. von Länderinformationen aus einem Navigationssystem zwi­ schen einem Wechsel auf die linke Fahrspur und einem Wechsel auf die rechte Fahrspur unterschieden, kann erkannt werden, ob auf eine schnellere oder auf eine langsamere Fahrspur übergegangen wird. Hierbei kann z. B. bei Rechtsverkehr grundsätzlich davon ausgegangen werden, daß bei einem Wechsel auf die linke Fahrspur eine eher schnellere Fahrzeug- Geschwindigkeit zu erwarten ist und bei einem Wechsel auf die rechte Fahr­ spur eine eher langsamere Fahrzeug-Geschwindigkeit. Umgekehrt würden sich die Fahrzeug-Geschwindigkeiten im Hinblick auf die linke und rechte Fahrspur verhalten, wenn die Information der Ländervariante, z. B. Südafrika oder England, auf einen Linksverkehr hindeuten würde.Is used in particular in connection with the consideration of country variations anten or z. B. of country information from a navigation system between a change to the left lane and a change to the right lane differentiated, can be recognized whether on a faster or is switched to a slower lane. Here, for. B. in the case of right-hand traffic, it is generally assumed that a Change to the left lane a rather faster vehicle Speed is expected and when changing to the right driving track a rather slower vehicle speed. Conversely the vehicle speeds in terms of left and right Lane behave when the information of the country variant, e.g. B. South Africa or England, would indicate left-hand traffic.

In der Zeichnung ist ein Ausführungsbeispiel der Erfindung dargestellt. Sie zeigt ein Fahrzeug mit erfindungsgemäßem Fahrgeschwindigkeitsregelsy­ stem auf einer dreispurigen Fahrbahn.In the drawing, an embodiment of the invention is shown. she shows a vehicle with the vehicle speed control system according to the invention stem on a three-lane roadway.

Die dargestellte Fahrbahn weist die Fahrspuren 1, 2 und 3 auf. Das darge­ stellte Fahrzeug bewegt sich mit einer Fahrzeug-Geschwindigkeit v im Ab­ stand d zum vorausfahrenden Fahrzeug 5 momentan auf der mittleren Fahr­ spur 2. Das hier nicht dargestellte, am Fahrzeug angebrachte Abstandssen­ sorsystem, beispielsweise ein Radarsystem, weist einen hier dreieckförmig dargestellten Erfassungsbereich B der Fahrumgebung auf. Aus diesem Er­ fassungsbereich B wird üblicherweise zur Bestimmung des Abstands d zu einem vorausfahrenden Fahrzeug 5 lediglich ein keulenförmiger Korridor A mit einer angenommenen Fahrspurbreite ausgewertet.The roadway shown has lanes 1 , 2 and 3 . The vehicle shown is moving at a vehicle speed v in the distance d from the vehicle 5 driving ahead in the middle lane 2 . The distance sensor system, not shown here, attached to the vehicle, for example a radar system, has a detection area B of the driving environment shown here in a triangular shape. From this detection area B, usually only a lobe-shaped corridor A with an assumed lane width is evaluated in order to determine the distance d from a preceding vehicle 5 .

Erfindungsgemäß wird nunmehr der gesamte Erfassungsbereich B dahinge­ hend weiter ausgenutzt, daß eine mittlere Geschwindigkeit der zumindest auf einer Nachbarspur 1 und/oder 3 fahrenden Fahrzeuge erfaßt wird. Die anderen Fahrzeuge sind in der Zeichnung in Form von dunklen Kreisen mit den Geschwindigkeiten v1 bis v5 schematisch angedeutet.According to the invention, the entire detection area B is now used to the effect that an average speed of the vehicles traveling at least in a neighboring lane 1 and / or 3 is detected. The other vehicles are indicated schematically in the drawing in the form of dark circles at speeds v 1 to v 5 .

Das erfindungsgemäße Fahrgeschwindigkeitsregelsystem schätzt mittels der Abstandssensorsignale eine mittlere Geschwindigkeit der in einem vorgege­ benen Zeitraum auf einer benachbarten Fahrspur 1 oder 3 vorbeifahrenden Fahrzeuge, wie im dargestellten Ausführungsbeispiel die mittlere Geschwin­ digkeit (v4 + v5)/2 = vli der beiden Fahrzeuge auf der linken Fahrspur 1. Durch einen Relativgeschwindigkeitsvergleich zwischen der Fahrzeug- Geschwindigkeit v und den jeweiligen Geschwindigkeiten v4 bzw. v5 auf der Fahrspur 1 wird auch die Richtung der Fahrzeuge auf der Fahrspur 1 erfaßt. Über ein Blinksignal 4, im dargestellten Beispiel ein Linksblinken, erkennt das erfindungsgemäße Fahrgeschwindigkeitsregelsystem, daß die linke Fahrspur 1 die Ziel-Fahrspur bei einem Fahrspurwechsel ist. Da im darge­ stellten Ausführungsbeispiel die mittlere Geschwindigkeit vli auf der linken Fahrspur 1 höher als die Fahrgeschwindigkeit v ist, kann beispielsweise be­ reits bei Erkennen des Fahrspurwechselwunsches die Fahr-Geschwindigkeit v angehoben und der Abstand d reduziert werden. The vehicle speed control system according to the invention uses the distance sensor signals to estimate an average speed of the vehicles 1 or 3 passing by in an adjacent lane in a given time period, as in the exemplary embodiment shown, the average speed (v 4 + v 5 ) / 2 = v li of the two vehicles the left lane 1 . The direction of the vehicles in lane 1 is also detected by a relative speed comparison between vehicle speed v and the respective speeds v 4 and v 5 in lane 1 . Via a flashing signal 4 , in the example shown a left flashing, the vehicle speed control system according to the invention recognizes that the left lane 1 is the target lane when changing lanes. Since in the exemplary embodiment shown, the average speed v li in the left lane 1 is higher than the driving speed v, the driving speed v can be increased and the distance d reduced, for example, when the lane change request is recognized.

Ebenso kann bei einem Wechsel auf die rechte Fahrspur 3 eine Verlangsa­ mung der Fahrzeug-Geschwindigkeit v vorgenommen werden.Likewise, when changing to the right lane 3, the vehicle speed v can be slowed down.

Diese erfindungsgemäße situativ angepaßte Überholhilfe führt zu harmoni­ schen Übergängen bei Fahrgeschwindigkeitsregelsystemen ohne notwendi­ gen Fahrereingriff. Hierdurch wird der Kundennutzen durch Komfortgewinn gesteigert.This overtaking aid adapted to the situation according to the invention leads to harmony transitions in vehicle speed control systems without necessary against driver intervention. As a result, the customer benefit through increased comfort increased.

Claims (4)

1. Abstandsbezogenes Fahrgeschwindigkeitsregelsystem für Kraftfahrzeuge mit einem elektronischen Steuergerät, dadurch gekennzeichnet, daß das elektronische Steuergerät mindestens ein Signal (4) zur Erkennung eines Fahrspurwechsels oder eines Fahrspurwechselwunsches von der mo­ mentanen Fahrspur (2) auf eine Ziel-Fahrspur (1) und mindestens ein Si­ gnal zur Schätzung der mittleren Geschwindigkeit der Fahrzeuge auf der Ziel-Fahrspur (1) erfaßt und daß das Steuergerät im Falle eines Fahr­ spurwechsels oder Fahrspurwechselwunsches die Fahrzeug- Geschwindigkeit (v) und/oder den Abstand (d) zum auf der momentanen Fahrspur vorausfahrenden Fahrzeug (5) entsprechend dieser mittleren Geschwindigkeit vorgibt.1. Distance-based vehicle speed control system for motor vehicles with an electronic control unit, characterized in that the electronic control unit at least one signal ( 4 ) for detecting a lane change or a lane change request from the current lane ( 2 ) to a target lane ( 1 ) and at least one Si signal for estimating the average speed of the vehicles in the target lane ( 1 ) and that the control unit in the event of a lane change or lane change request, the vehicle speed (v) and / or the distance (d) to the preceding lane in the current lane Specifies vehicle ( 5 ) according to this average speed. 2. Abstandsbezogenes Fahrgeschwindigkeitsregelsystem nach Anspruch 1, dadurch gekennzeichnet, daß die Richtung der Fahrzeuge auf der Ziel- Fahrspur (1) erfaßt und berücksichtigt wird.2. Distance-related vehicle speed control system according to claim 1, characterized in that the direction of the vehicles in the target lane ( 1 ) is detected and taken into account. 3. Abstandsbezogenes Fahrgeschwindigkeitsregelsystem nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß zwischen einem Wechsel auf die linke Fahrspur (1) und einem Wechsel auf die rechte Fahrspur (3) unter­ schieden wird.3. Distance-related vehicle speed control system according to claim 1 or 2, characterized in that between a change to the left lane ( 1 ) and a change to the right lane ( 3 ) is different. 4. Abstandsbezogenes Fahrgeschwindigkeitsregelsystem nach Anspruch 3, dadurch gekennzeichnet, daß zwischen verschiedenen Ländervarianten bzw. Länderinformationen unterschieden wird.4. Distance-related vehicle speed control system according to claim 3, characterized in that between different country variants or country information is distinguished.
DE19757063A 1997-12-20 1997-12-20 Safety speed control system for vehicle Withdrawn DE19757063A1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE19757063A DE19757063A1 (en) 1997-12-20 1997-12-20 Safety speed control system for vehicle
EP98962427A EP1037761B1 (en) 1997-12-20 1998-12-09 System for controlling speed and distance in a motor vehicle changing traffic lanes
DE59803382T DE59803382D1 (en) 1997-12-20 1998-12-09 CONTROL SYSTEM FOR SPEED AND DISTANCE WHEN CHANGING THE ROAD OF A MOTOR VEHICLE
PCT/EP1998/007985 WO1999032318A1 (en) 1997-12-20 1998-12-09 System for controlling speed and distance in a motor vehicle changing traffic lanes
JP2000525275A JP3845548B2 (en) 1997-12-20 1998-12-09 Control system for speed and inter-vehicle distance when changing lanes of an automatic vehicle
US09/581,945 US6304811B1 (en) 1997-12-20 1998-12-09 System for controlling speed and distance in a motor vehicle changing traffic lanes

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19757063A DE19757063A1 (en) 1997-12-20 1997-12-20 Safety speed control system for vehicle

Publications (1)

Publication Number Publication Date
DE19757063A1 true DE19757063A1 (en) 1999-06-24

Family

ID=7852864

Family Applications (2)

Application Number Title Priority Date Filing Date
DE19757063A Withdrawn DE19757063A1 (en) 1997-12-20 1997-12-20 Safety speed control system for vehicle
DE59803382T Expired - Lifetime DE59803382D1 (en) 1997-12-20 1998-12-09 CONTROL SYSTEM FOR SPEED AND DISTANCE WHEN CHANGING THE ROAD OF A MOTOR VEHICLE

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE59803382T Expired - Lifetime DE59803382D1 (en) 1997-12-20 1998-12-09 CONTROL SYSTEM FOR SPEED AND DISTANCE WHEN CHANGING THE ROAD OF A MOTOR VEHICLE

Country Status (5)

Country Link
US (1) US6304811B1 (en)
EP (1) EP1037761B1 (en)
JP (1) JP3845548B2 (en)
DE (2) DE19757063A1 (en)
WO (1) WO1999032318A1 (en)

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